Both of the stars emerged from – then outgrew – the Stock, Aitken, Waterman hit factory in the 80s.

At one point it was even rumoured that Kylie’s hits were produced by speeding up the sound of her label-mate’s voice.

She’s disproved the theory several times since.

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A perfect opportunity arose two songs into her set on Sunday night, when technical snafu forced her to fill time in front of 50,000 people.

“Since we’re having an issue: Any requests?” she asked the audience, before delivering impromptu a capella versions of Got To Be Certain, Step Back In Time and Je Ne Sais Pas Pourquoi.

“I know I’ve got enough hits to keep filling,” she laughed, finally getting back on track with a mellow version of In Your Eyes, just one of her 34 Top 10 singles.

The show also included a lively flamenco take on Can’t Get You Out Of My Head, incorporating elements of Fleetwood Mac’s The Chain; and an acoustic version of her UK debut single, I Should Be So Lucky.

It was a set that illustrated how comfortable Kylie has become with her storied musical legacy – maturing with her audience while embracing and updating the cheesier moments of her back catalogue. Madonna should take note.

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Media captionKylie Minogue performs Can’t Get You Out Of My Head at Radio 2 Live in Hyde Park.

The Australian star topped a bill that included Lenny Kravitz, Rita Ora, Manic Street Preachers, Boyzone and All Saints.

All of the performances are available on the Radio 2 website; while Kylie’s set was also broadcast on BBC One on Sunday night.

Later this month, she’ll be announcing trains as they arrive at stations around the UK as part of a stunt for BBC Music Day.

The star also launches her 15th tour, the Golden Tour, in Newcastle on 18 September.

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Media captionAll Saints perform Never Ever at Radio 2 Live in Hyde Park.